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Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulatorsLaser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.
Document ID
19900017265
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Malachowski, M. J. (Cellulose Conversion Enterprises Berkeley, CA, United States)
Date Acquired
September 6, 2013
Publication Date
April 1, 1990
Subject Category
Cybernetics
Report/Patent Number
NAS 1.26:185151
NASA-CR-185151
Accession Number
90N26581
Funding Number(s)
CONTRACT_GRANT: NAS3-25917
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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